A longitudinal-lateral control method and device before an access, a vehicle and a storage medium

Abstract

The application belongs to the technical field of automatic driving, and particularly relates to a longitudinal and lateral control method and device before an approach, a vehicle and a storage medium. The method comprises the following steps: acquiring lane information, traffic participant information and a distance between the vehicle and a guide lane; formulating a longitudinal and lateral control strategy according to the distance between the vehicle and the guide lane, the lane information and the traffic participant information; and dividing the distance between the vehicle and the guide lane into different segment distances, and executing different longitudinal and lateral control strategies according to the different segment distances. The purpose is to better plan a cruise speed and lane changing of an intelligent driving vehicle, correctly enter the guide lane, and effectively improve a driving experience and vehicle operation efficiency under the condition of ensuring safety.

Description

Technical Field

[0001] This invention belongs to the field of autonomous driving technology, specifically relating to a longitudinal and lateral control method, device, vehicle, and storage medium before entering an intersection. Background Technology

[0002] For intelligent vehicles equipped with autonomous driving assistance systems, information about road infrastructure, traffic participants, and traffic signals is obtained through sensors such as high-definition forward-looking cameras, panoramic cameras, millimeter-wave radar, lidar, ADAS maps, high-precision maps, and combined inertial navigation systems, or V2X technology. The central controller analyzes and calculates the information, executes control strategies, and manipulates the vehicle to achieve acceleration, deceleration, turning, obstacle avoidance, lane changing, entering and exiting ramps, and passing through intersections, ensuring that the vehicle reaches its destination legally, safely, and efficiently.

[0003] Lateral and longitudinal control of vehicles at ramps and before entering intersections ensures that vehicles enter the correct lanes in advance, meeting regulatory requirements. Currently, most intersection-assisted autonomous driving systems do not consider the situation of traffic participants and do not explain the methods for lateral and longitudinal control.

[0004] Chinese Patent CN202111132536 discloses an intersection-assisted driving method, a vehicle, and a computer-readable storage medium. It discloses the following steps: collecting driving environment information of the controlled vehicle; identifying traffic light information at the intersection ahead based on the driving environment information; obtaining the distance the controlled vehicle is traveling from the intersection ahead and the vehicle's current speed; determining, based on the traffic light information, the travel distance, and the current speed, whether the traffic light status is "allowed" when the controlled vehicle reaches the intersection at its current speed; and controlling the controlled vehicle to decelerate and brake to stop at the intersection ahead if the traffic light status is not "allowed." This invention improves the intelligence of the assisted driving function. While this solution considers traffic participants and traffic lights, it does not consider methods for longitudinal and lateral vehicle control before the intersection. Summary of the Invention

[0005] The purpose of this invention is to provide a longitudinal and lateral control method, device, vehicle, and storage medium before entering an intersection, which can better plan the cruising speed and lane changes of intelligent driving vehicles, correctly enter the guide lane, and effectively improve the driving experience and vehicle operating efficiency while ensuring safety.

[0006] To achieve the above-mentioned technical objectives, the technical solution adopted by the present invention is as follows:

[0007] Firstly, this application provides a method for longitudinal and lateral control before entering an intersection, applied to an autonomous driving assistance system, the method comprising:

[0008] Obtain lane information, traffic participant information, and the distance between the vehicle and the guide lane;

[0009] Based on the distance between the vehicle and the guide lane, lane information, and traffic participant information, a longitudinal and lateral control strategy is formulated.

[0010] The distance between the vehicle and the guide lane is divided into different segments, and different longitudinal and lateral control strategies are implemented according to the different segments.

[0011] In conjunction with the first aspect, in some alternative implementations, the method further includes,

[0012] When dividing the distance between the vehicle and the guide lane into different segments, the segments are divided into segment A, segment B, segment C, segment D and segment E;

[0013] When the segment distance is segment distance A, the longitudinal and lateral control strategy A is executed, and when the longitudinal and lateral control strategy A is executed, the intersection speed limit control A is implemented.

[0014] When the segment distance is segment distance B, the longitudinal and lateral control strategy B is executed, and when the longitudinal and lateral control strategy B is executed, the intersection speed limit control B is implemented.

[0015] When the segment distance is segment distance C, the longitudinal and lateral control strategy C is executed, and when the longitudinal and lateral control strategy C is executed, the intersection speed limit control C is implemented.

[0016] When the segment distance is segment distance D, the longitudinal and lateral control strategy D is executed. When the longitudinal and lateral control strategy D is executed, the intersection speed limit control D is implemented.

[0017] When the segment distance is segment distance E, the longitudinal and lateral control strategy E is executed, and when the longitudinal and lateral control strategy E is executed, the intersection speed limit control E is implemented.

[0018] In conjunction with the first aspect, in some alternative implementations, the method further includes,

[0019] When executing the longitudinal and lateral control strategies A, longitudinal control strategy A and lateral control strategy A are executed respectively;

[0020] When executing the longitudinal control strategy A, it is determined whether there are other traffic participants around the vehicle. If there are other traffic participants around the vehicle, it follows the vehicle. If there are no other traffic participants around the vehicle, it executes intersection speed limit cruise A. The intersection speed limit cruise A is calculated as follows: first, the road speed limit value is subtracted by 10 and compared with 40. The maximum value is selected. Then, the maximum value is compared with the road speed limit value and the minimum value is selected to obtain the speed of intersection speed limit cruise A.

[0021] When executing the lateral control strategy A, it is determined whether the vehicle is aligned with the target guide lane or adjacent lane, based on whether the lateral distance between the center of the current driving lane and the center of the target guide lane is less than a first preset distance.

[0022] When the lateral distance is less than a first preset distance, the vehicle is controlled to maintain center driving; when the lateral distance is greater than the first preset distance, it is determined whether there is a target that inhibits lane changing in the aligned lane or adjacent lane of the guide lane.

[0023] When it is determined that there is no target to suppress lane change in the aligned lane or adjacent lane of the guide lane, the vehicle changes lanes to the corresponding direction lane and controls the vehicle to enter the aligned lane or adjacent lane of the target guide lane.

[0024] When it is determined that there is a target to suppress lane changes in the aligned lane or adjacent lane of the guide lane, the vehicle drives in the center.

[0025] In conjunction with the first aspect, in some alternative implementations, the method further includes,

[0026] When executing the longitudinal and lateral control strategies B, the longitudinal control strategy B and the lateral control strategy B are executed respectively;

[0027] When executing the longitudinal control strategy B, it is determined whether there are other traffic participants around the vehicle. If there are other traffic participants around the vehicle, it follows the vehicle. If there are no other traffic participants around the vehicle, it executes the intersection speed limit cruise B. The intersection speed limit cruise B is calculated as follows: first, the road speed limit value is subtracted by 20 and compared with 40. The maximum value is selected. Then, the maximum value is compared with the road speed limit value and the minimum value is selected to obtain the speed of the intersection speed limit cruise B.

[0028] When executing the lateral control strategy B, it is determined whether the vehicle is in the adjacent lane of the target guiding lane, based on whether the lateral distance between the center of the current driving lane and the center of the target guiding lane is less than a first preset distance.

[0029] When the lateral distance is greater than or equal to the first preset distance, the driver is reminded to take over. The vehicle cannot enter the target lane temporarily, and the intersection speed limit cruise B.1 is adopted. The intersection speed limit cruise B.1 is calculated by subtracting 10 from the intersection speed limit cruise B, which is the speed of the intersection speed limit cruise B.1. The route is replanned and the new longitudinal and lateral control strategy B is implemented.

[0030] When the lateral distance is less than the first preset distance, it is determined whether the vehicle is aligned with the target guide lane, based on whether the lateral distance between the center of the current driving lane and the center of the target guide lane is less than the second preset distance;

[0031] When the lateral distance is greater than or equal to the second preset distance, the vehicle drives in the center; when the lateral distance is less than the second preset distance, it is determined whether there is a target that inhibits lane changing in the aligned lane or adjacent lane of the guide lane.

[0032] When it is determined that there is no target to suppress lane change in the aligned lane or adjacent lane of the guide lane, the vehicle changes lanes to the corresponding direction lane and controls the vehicle to enter the aligned lane or adjacent lane of the target guide lane.

[0033] When it is determined that there is a target to suppress lane changes in the aligned lane or adjacent lane of the guide lane, the vehicle drives in the center.

[0034] In conjunction with the first aspect, in some alternative implementations, the method further includes,

[0035] When executing the longitudinal and lateral control strategies C, the longitudinal control strategy C and the lateral control strategy C are executed respectively;

[0036] When executing the longitudinal control strategy C, it is determined whether there are other traffic participants around the vehicle. If there are other traffic participants around the vehicle, it follows the vehicle. If there are no other traffic participants around the vehicle, it executes the intersection speed limit cruise C. The intersection speed limit cruise C is calculated as follows: first, the road speed limit value is subtracted by 30 and compared with 40. The maximum value is selected. Then, the maximum value is compared with the road speed limit value and the minimum value is selected to obtain the speed of intersection speed limit cruise C.

[0037] When executing the lateral control strategy C, it is determined whether the vehicle is in the aligned lane of the target guiding lane, based on whether the lateral distance between the center of the current driving lane and the center of the target guiding lane is less than a second preset distance;

[0038] When the lateral distance is greater than or equal to the second preset distance, the driver is reminded to take over, and it is temporarily not possible to enter the target lane. The intersection speed limit cruise C.1 is adopted, and it is determined whether there is a target that inhibits lane change in the alignment lane of the guide lane.

[0039] When it is determined that the aligned lane of the guide lane has a target to suppress lane changes, the vehicle drives in the center;

[0040] When it is determined that there is no target to suppress lane change in the alignment lane of the guide lane, the vehicle changes lanes to the corresponding direction lane and controls the vehicle to enter the alignment lane of the target guide lane.

[0041] When the lateral distance is less than the second preset distance, the vehicle travels in the center.

[0042] In conjunction with the first aspect, in some alternative implementations, the method further includes,

[0043] When executing the longitudinal and lateral control strategies D, the longitudinal control strategy D and the lateral control strategy D are executed respectively;

[0044] When executing the longitudinal control strategy D, it is determined whether there are other traffic participants around the vehicle. If there are other traffic participants around the vehicle, it follows the vehicle. If there are no other traffic participants around the vehicle, it executes the intersection speed limit cruise D. The intersection speed limit cruise D is calculated as follows: first, the road speed limit value is subtracted by 40 and compared with 30. The maximum value is selected. Then, the maximum value is compared with the road speed limit value and the minimum value is selected to obtain the speed of intersection speed limit cruise D.

[0045] When executing the lateral control strategy D, it is determined whether the vehicle is in the aligned lane of the target guiding lane, based on whether the lateral distance between the center of the current driving lane and the center of the target guiding lane is less than a second preset distance.

[0046] When the lateral distance is greater than or equal to the second preset distance, the driver is reminded to take over. The vehicle cannot enter the target lane temporarily. The system determines whether there is a collision risk between the vehicle and the vehicle behind. When it is determined that there is no collision risk between the vehicle and the vehicle behind, the vehicle stops and waits to change lanes. When the vehicle stops and waits for more than the preset time or there is a collision risk between the vehicle and the vehicle behind, the lateral control strategy D of replanning the route and implementing the new route is implemented.

[0047] If the vehicle's waiting time does not exceed the preset time, determine whether there is a target that inhibits lane changing in the target directional lane alignment lane; if it is determined that there is no target that inhibits lane changing in the target directional lane alignment lane, the vehicle changes lanes to the corresponding direction lane and controls the vehicle to enter the target directional lane alignment lane; if it is determined that there is a target that inhibits lane changing in the target directional lane alignment lane, the vehicle continues to wait.

[0048] When the lateral distance is less than the second preset distance, the vehicle will drive in the center.

[0049] In conjunction with the first aspect, in some alternative implementations, the method further includes,

[0050] When executing the longitudinal and lateral control strategies E, the longitudinal control strategy E and the lateral control strategy E are executed respectively;

[0051] When executing the longitudinal control strategy E, it is determined whether there are other traffic participants around the vehicle. If there are other traffic participants around the vehicle, it follows the vehicle. If there are no other traffic participants around the vehicle, it executes the intersection speed limit cruise E and determines whether there is a traffic signal.

[0052] When the presence of the traffic signal is detected, the vehicle is accelerated or decelerated based on the traffic information.

[0053] If it is determined that the traffic signal does not exist, the intersection speed limit cruise E will continue to be executed;

[0054] When the lateral control strategy E is executed, the vehicle travels in the center.

[0055] In conjunction with the first aspect, in some alternative implementations, the method further includes,

[0056] When executing the longitudinal and lateral control strategies A, B, and C, control strategy F1 is also executed.

[0057] When executing the longitudinal and lateral control strategies D and E, control strategy F2 is also executed.

[0058] In conjunction with the first aspect, in some alternative implementations, the method further includes,

[0059] When executing the control strategy F1, it is determined whether the vehicle following the car has its hazard lights on.

[0060] When it is determined that the vehicle following the vehicle has hazard lights, the vehicle following the vehicle is determined to be an accident vehicle. The system reminds the accident vehicle ahead, and the vehicle drives around the obstacle and then executes the longitudinal and lateral control strategies A, B and C again.

[0061] When it is determined that the vehicle following the vehicle has hazard lights on and the vehicle following the vehicle does not have brake lights on, it is determined that the vehicle ahead may be illegally parked. After the vehicle goes around the obstacle, it will execute longitudinal and lateral control strategies A, B and C again.

[0062] When it is determined that the vehicle following the vehicle has hazard lights on, and the vehicle following the vehicle has its brake lights on, this vehicle will again execute longitudinal and lateral control strategies A, B, and C.

[0063] In conjunction with the first aspect, in some alternative implementations, the method further includes,

[0064] When executing the control strategy F2, it is determined whether the vehicle following the car has its hazard lights on.

[0065] When it is determined that the vehicle following the vehicle has hazard lights, the vehicle following the vehicle is determined to be an accident vehicle. The system will remind the accident vehicle ahead, suggest that the driver take over, and execute the longitudinal and lateral control strategies D and E for driving.

[0066] When it is determined that the vehicle following the car has hazard lights on, but the vehicle following the car does not have brake lights on, it is determined that the vehicle in front may be illegally parked. It is recommended that the driver take over and execute longitudinal and lateral control strategies D and E.

[0067] When it is determined that the vehicle following the vehicle has hazard lights on and the vehicle following the vehicle has brake lights on, this vehicle will again execute longitudinal and lateral control strategies D and E.

[0068] Secondly, this application also provides a longitudinal and lateral control device before an approach to an intersection, applied to an autonomous driving assistance system, the device comprising:

[0069] The information acquisition module is used to acquire lane information, traffic participant information, distance between the vehicle and the guide lane, and traffic signal information;

[0070] The execution module is used to execute corresponding longitudinal and lateral control strategies based on the distance between the vehicle and the guide lane, lane information, traffic participant information, and traffic signal information.

[0071] In conjunction with the second aspect, in some optional implementations, the execution module is further configured to:

[0072] The obstacle avoidance control strategy is executed according to the described longitudinal and lateral control strategy.

[0073] Thirdly, this application also provides a vehicle, the vehicle including a memory and a processor, wherein:

[0074] The memory is used to store computer programs;

[0075] When the processor is used to execute the computer program stored in the memory, it implements the method described above.

[0076] Fourthly, this application also provides a computer-readable storage medium storing a computer program that, when run on a computer, causes the computer to perform the method described above.

[0077] The invention employing the above technical solution has the following advantages:

[0078] By acquiring lane information, traffic participant information, and the distance between the vehicle and the guide lane, the distance is divided into different length segments. Then, based on the lane information, traffic participant information, traffic signals, and different length segments, corresponding longitudinal and lateral control strategies are executed. When executing different segments of longitudinal and lateral control strategies, obstacle avoidance strategies are also executed according to the actual situation. This allows for better planning of the intelligent driving vehicle's cruising speed and lane changes, correct entry into the guide lane, and correct entry into the intersection. Under the premise of ensuring safety, this effectively improves the driving experience and vehicle operating efficiency. Attached Figure Description

[0079] This application can be further illustrated by the non-limiting embodiments given in the accompanying drawings;

[0080] Figure 1 One of the flowcharts of the control method provided in the embodiments of this application;

[0081] Figure 2 A second schematic flowchart illustrating the control method provided in an embodiment of this application;

[0082] Figure 3 A flowchart illustrating the longitudinal and lateral control strategy A in the control method provided in the embodiments of this application;

[0083] Figure 4 A flowchart illustrating the longitudinal and lateral control strategy B in the control method provided in the embodiments of this application;

[0084] Figure 5 A flowchart illustrating the longitudinal and lateral control strategy C in the control method provided in the embodiments of this application;

[0085] Figure 6 A flowchart illustrating the longitudinal and lateral control strategy D in the control method provided in the embodiments of this application;

[0086] Figure 7 A flowchart illustrating the longitudinal and lateral control strategy E in the control method provided in the embodiments of this application;

[0087] Figure 8 A flowchart illustrating the control strategy F in the control method provided in the embodiments of this application;

[0088] Figure 9 A block diagram of the control device provided in the embodiments of this application;

[0089] The symbols for the main components are explained below:

[0090] Control device 200, information acquisition module 210, execution module 220. Detailed Implementation

[0091] The present application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that similar or identical parts are referred to by the same reference numerals in the drawings or description. Implementations not shown or described in the drawings are forms known to those skilled in the art. In the description of this application, terms such as "first" and "second" are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0092] Please refer to the attached document. Figure 1 As shown in the figure, this application provides a longitudinal and lateral control method before entering an intersection, applied to an autonomous driving assistance system. The method may include,

[0093] Step 110: Obtain lane information, traffic participant information, and the distance between the vehicle and the guide lane;

[0094] Step 120: Formulate longitudinal and lateral control strategies based on the distance between the vehicle and the guide lane, lane information, and traffic participant information;

[0095] Step 130: Divide the distance between the vehicle and the guide lane into different segments, and execute different longitudinal and lateral control strategies according to the different segments.

[0096] Through the above implementation method, the distance between the vehicle and the guide lane is divided into segments of different lengths. Based on the different lengths of the segments, and in combination with lane information, traffic participant information and traffic signal information, different longitudinal and lateral control strategies can be formulated and executed. By executing different longitudinal and lateral control strategies at different lengths of segments, the cruising speed and lane changing of the intelligent driving vehicle can be better planned, and the vehicle can correctly enter the guide lane and thus correctly enter the intersection. Under the premise of ensuring safety, the driving experience and vehicle operation efficiency can be effectively improved.

[0097] Understandably, autonomous driving assistance systems, also known as advanced driver assistance systems, can cruise using high-precision satellite navigation and utilize various sensors on the vehicle to detect the surrounding environment, thereby enabling automatic lane changes, steering, acceleration and deceleration, and switching on and off lights. This can reduce the driver's workload and help the driver avoid risks. It is an existing technology and will not be elaborated on here.

[0098] Understandably, in step 110, when acquiring lane information, traffic participant information, and the distance between the vehicle and the guide lane, the vehicle can acquire lane information, traffic participant information, the distance between the vehicle and the guide lane, and traffic signal information by means of the front-view camera, panoramic camera, rear-view camera, lidar, millimeter-wave radar, and high-precision map deployed on the vehicle. The acquired information is transmitted to the central controller deployed on the vehicle. The central controller fuses and identifies the acquired information, and then formulates and executes corresponding longitudinal and lateral control strategies based on the identified information.

[0099] In this embodiment, the vehicle is equipped with at least two forward-facing cameras, four panoramic cameras, one rear-facing camera, two lidar sensors, and one millimeter-wave radar, which can more accurately obtain lane information, traffic participant information, distance between the vehicle and the guide lane, and traffic signal information of the current vehicle location.

[0100] Understandably, lane information includes, but is not limited to, lane line information and lane direction information. Traffic participant information includes, but is not limited to, following targets, other traffic participants, and obstacles. Traffic signal information includes, but is not limited to, road speed limits, traffic lights, and traffic hand signals. The distance between the vehicle and the lane is the longitudinal distance between the vehicle and the starting point of the lane. By collecting the information, the real-time longitudinal distance between the vehicle and the starting point of the lane can be obtained, and different longitudinal and lateral control strategies can be executed based on different real-time longitudinal distances.

[0101] As an optional implementation, the method may further include,

[0102] When dividing the distance between the vehicle and the guide lane into different segments, the segments are divided into segment A, segment B, segment C, segment D and segment E;

[0103] When the segment distance is segment distance A, the longitudinal and lateral control strategy A is executed, and when the longitudinal and lateral control strategy A is executed, the intersection speed limit control A is implemented.

[0104] When the segment distance is segment distance B, the longitudinal and lateral control strategy B is executed, and when the longitudinal and lateral control strategy B is executed, the intersection speed limit control B is implemented.

[0105] When the segment distance is segment distance C, the longitudinal and lateral control strategy C is executed, and when the longitudinal and lateral control strategy C is executed, the intersection speed limit control C is implemented.

[0106] When the segment distance is segment distance D, the longitudinal and lateral control strategy D is executed. When the longitudinal and lateral control strategy D is executed, the intersection speed limit control D is implemented.

[0107] When the segment distance is segment distance E, the longitudinal and lateral control strategy E is executed, and when the longitudinal and lateral control strategy E is executed, the intersection speed limit control E is implemented.

[0108] In this embodiment, in step 120, the central controller obtains a maximum distance of 200m from the starting point of the vehicle's guide lane. The obtained real-time longitudinal distance between the vehicle and the starting point of the guide lane is divided into 5 segments. Segment A is 200-50m from the starting point of the guide lane; segment B is 50-20m from the starting point of the guide lane; segment C is 20-3m from the starting point of the guide lane; segment D is 3-0m from the starting point of the guide lane; and segment E is the distance from the starting point of the guide lane to the vehicle that is less than 0m.

[0109] Understandably, when the vehicle travels within the range of 200-50m, the central controller executes longitudinal and lateral control strategy A, and the vehicle implements intersection speed limit control A for cruise control; when the vehicle travels within the range of 50-20m, the central controller executes longitudinal and lateral control strategy B, and the vehicle implements intersection speed limit control B for cruise control; when the vehicle travels within the range of 20-3m, the central controller executes longitudinal and lateral control strategy C, and the vehicle implements intersection speed limit control C for cruise control; when the vehicle travels within the range of 3-0m, the central controller executes longitudinal and lateral control strategy D, and the vehicle implements intersection speed limit control D for cruise control; when the distance between the vehicle and the starting point of the guide lane is less than 0m, the central controller executes longitudinal and lateral control strategy E, and the vehicle implements intersection speed limit control E for cruise control.

[0110] During the aforementioned cruise, the vehicle gets closer and closer to the starting point of the guide lane. Through different longitudinal and lateral control strategies, the vehicle can better plan the cruise speed and lane changes of the intelligent driving vehicle, correctly enter the guide lane, and effectively improve the driving experience and vehicle operating efficiency while ensuring safety.

[0111] As an optional implementation, the method may further include,

[0112] When executing the longitudinal and lateral control strategies A, longitudinal control strategy A and lateral control strategy A are executed respectively;

[0113] When executing the longitudinal control strategy A, it is determined whether there are other traffic participants around the vehicle. If there are other traffic participants around the vehicle, it follows the vehicle. If there are no other traffic participants around the vehicle, it executes intersection speed limit cruise A. The intersection speed limit cruise A is calculated as follows: first, the road speed limit value is subtracted by 10 and compared with 40. The maximum value is selected. Then, the maximum value is compared with the road speed limit value and the minimum value is selected to obtain the speed of intersection speed limit cruise A.

[0114] When executing the lateral control strategy A, it is determined whether the vehicle is aligned with the target guide lane or adjacent lane, based on whether the lateral distance between the center of the current driving lane and the center of the target guide lane is less than a first preset distance.

[0115] When the lateral distance is less than a first preset distance, the vehicle is controlled to maintain center driving; when the lateral distance is greater than the first preset distance, it is determined whether there is a target that inhibits lane changing in the aligned lane or adjacent lane of the guide lane.

[0116] When it is determined that there is no target to suppress lane change in the aligned lane or adjacent lane of the guide lane, the vehicle changes lanes to the corresponding direction lane and controls the vehicle to enter the aligned lane or adjacent lane of the target guide lane.

[0117] When it is determined that there is a target to suppress lane changes in the aligned lane or adjacent lane of the guide lane, the vehicle drives in the center.

[0118] Understandably, in step 130, within the range of 200-50m, the central controller controls the vehicle to execute longitudinal and lateral control strategy A, and decomposes it into executing longitudinal control strategy A and lateral control strategy A according to the distance from the starting point of the guide lane.

[0119] In this embodiment, when the central controller implements longitudinal control strategy A, the central controller uses information collected by the forward-looking camera, panoramic camera, lidar, and millimeter-wave radar to determine whether there are following targets or other traffic participants or obstacles around the vehicle. When there are following targets or other traffic participants or obstacles, the vehicle follows the vehicle. When there are no following targets or other traffic participants or obstacles, the intersection speed limit cruise A is executed. The formula for intersection speed limit cruise A can be expressed as: min[road speed limit, max(road speed limit - 10, 40)] km / h. The specific calculation method of this formula is as follows: first, subtract 10 from the current road speed limit and compare it with 40 to select the maximum value. Then, compare the maximum value with the road speed limit and select the minimum value to obtain the speed of intersection speed limit cruise A.

[0120] In this embodiment, when the central controller implements lateral control strategy A, the central controller uses information collected by the panoramic camera, lidar and millimeter-wave radar to determine whether the vehicle is aligned with the target guide lane or adjacent lane, and makes a judgment based on whether the lateral distance between the center of the current driving lane and the center of the target guide lane is less than a first preset distance, which is set to 5m.

[0121] When the central controller determines that the lateral distance between the center of the current driving lane and the center of the target guiding lane is less than 5m, the central controller controls the vehicle to stay centered in the current lane. When the central controller determines that the lateral distance between the center of the current driving lane and the center of the target guiding lane is greater than or equal to 5m, it determines whether there are any targets that inhibit lane changing in the aligned lane or adjacent lane of the guiding lane, that is, whether there are other vehicles or obstacles that inhibit the vehicle from changing lanes.

[0122] When the central controller determines that there are other vehicles or obstacles in the aligned lane or adjacent lane of the guiding lane, the vehicle continues to drive in the center; when the central controller determines that there are no other vehicles or obstacles in the aligned lane or adjacent lane of the guiding lane, it controls the vehicle to turn on the turn signal and change lanes to the aligned lane or adjacent lane of the guiding lane.

[0123] As an optional implementation, the method may further include,

[0124] When executing the longitudinal and lateral control strategies B, the longitudinal control strategy B and the lateral control strategy B are executed respectively;

[0125] When executing the longitudinal control strategy B, it is determined whether there are other traffic participants around the vehicle. If there are other traffic participants around the vehicle, it follows the vehicle. If there are no other traffic participants around the vehicle, it executes the intersection speed limit cruise B. The intersection speed limit cruise B is calculated as follows: first, the road speed limit value is subtracted by 20 and compared with 40. The maximum value is selected. Then, the maximum value is compared with the road speed limit value and the minimum value is selected to obtain the speed of the intersection speed limit cruise B.

[0126] When executing the lateral control strategy B, it is determined whether the vehicle is in the adjacent lane of the target guiding lane, based on whether the lateral distance between the center of the current driving lane and the center of the target guiding lane is less than a first preset distance.

[0127] When the lateral distance is greater than or equal to the first preset distance, the driver is reminded to take over. The vehicle cannot enter the target lane temporarily, and the intersection speed limit cruise B.1 is adopted. The intersection speed limit cruise B.1 is calculated by subtracting 10 from the intersection speed limit cruise B, which is the speed of the intersection speed limit cruise B.1. The route is replanned and the new longitudinal and lateral control strategy B is implemented.

[0128] When the lateral distance is less than the first preset distance, it is determined whether the vehicle is aligned with the target guide lane, based on whether the lateral distance between the center of the current driving lane and the center of the target guide lane is less than the second preset distance;

[0129] When the lateral distance is greater than or equal to the second preset distance, the vehicle drives in the center; when the lateral distance is less than the second preset distance, it is determined whether there is a target that inhibits lane changing in the aligned lane or adjacent lane of the guide lane.

[0130] When it is determined that there is no target to suppress lane change in the aligned lane or adjacent lane of the guide lane, the vehicle changes lanes to the corresponding direction lane and controls the vehicle to enter the aligned lane of the target guide lane.

[0131] When it is determined that there is a target to suppress lane changes in the aligned lane or adjacent lane of the guide lane, the vehicle drives in the center.

[0132] Understandably, in step 130, within the range of 50-20m, the central controller controls the vehicle to execute longitudinal and lateral control strategy B, and decomposes it into executing longitudinal control strategy B and lateral control strategy B according to the distance from the starting point of the guide lane.

[0133] In this embodiment, when the central controller implements longitudinal control strategy B, the central controller uses information collected by the forward-looking camera, panoramic camera, lidar, and millimeter-wave radar to determine whether there are following targets or other traffic participants or obstacles around the vehicle. When there are following targets or other traffic participants or obstacles, the vehicle follows the vehicle. When there are no following targets or other traffic participants or obstacles, the intersection speed limit cruise B is executed. The formula for intersection speed limit cruise B can be expressed as: min[road speed limit, max(road speed limit - 20, 40)] km / h. The specific calculation method of this formula is as follows: first, subtract 20 from the current road speed limit and compare it with 40 to select the maximum value. Then, compare the maximum value with the road speed limit and select the minimum value to obtain the speed of intersection speed limit cruise B.

[0134] In this embodiment, when the central controller implements lateral control strategy B, the central controller uses information collected by the panoramic camera, lidar and millimeter-wave radar to determine whether the vehicle is in the adjacent lane of the target guide lane, and makes a judgment based on whether the lateral distance between the center of the current driving lane and the center of the target guide lane is less than a first preset distance, which is set to 5m.

[0135] Understandably, when the central controller determines that the lateral distance between the center of the current driving lane and the center of the target guide lane is greater than or equal to 5 meters, it alerts the driver to take over. The vehicle is temporarily unable to enter the target lane, and the central controller executes intersection speed limit cruise B.1. The formula for intersection speed limit cruise B.1 can be expressed as: intersection speed limit cruise B - 10. Specifically, the calculation method is: intersection speed limit cruise B minus 10 to obtain the speed of intersection speed limit cruise B.1. At this time, the central controller replans the route and implements the new longitudinal and lateral control strategy B.

[0136] Understandably, when the central controller determines that the lateral distance between the center of the current driving lane and the center of the target guiding lane is less than 5m, it determines whether the vehicle is aligned with the target guiding lane. This determination is based on whether the lateral distance between the center of the current driving lane and the center of the target guiding lane is less than a second preset distance, which is 2m.

[0137] Understandably, when the central controller determines that the lateral distance between the center of the current driving lane and the center of the target guiding lane is greater than or equal to 2 meters, the vehicle will drive in the center. When the central controller determines that the lateral distance between the center of the current driving lane and the center of the target guiding lane is less than 2 meters, it will determine whether there is a following target or obstacle in the aligned lane or adjacent lane of the guiding lane.

[0138] When the central controller determines that there is a following target or obstacle in the aligned lane or adjacent lane of the guiding lane, the vehicle drives in the center of the lane; when there is no following target or obstacle, the vehicle turns on the turn signal and controls the vehicle to change lanes to the aligned lane or adjacent lane of the target guiding lane.

[0139] As an optional implementation, the method may further include,

[0140] When executing the longitudinal and lateral control strategies C, the longitudinal control strategy C and the lateral control strategy C are executed respectively;

[0141] When executing the longitudinal control strategy C, it is determined whether there are other traffic participants around the vehicle. If there are other traffic participants around the vehicle, it follows the vehicle. If there are no other traffic participants around the vehicle, it executes the intersection speed limit cruise C. The intersection speed limit cruise C is calculated as follows: first, the road speed limit value is subtracted by 30 and compared with 40. The maximum value is selected. Then, the maximum value is compared with the road speed limit value and the minimum value is selected to obtain the speed of intersection speed limit cruise C.

[0142] When executing the lateral control strategy C, it is determined whether the vehicle is in the aligned lane of the target guiding lane, based on whether the lateral distance between the center of the current driving lane and the center of the target guiding lane is less than a second preset distance;

[0143] When the lateral distance is greater than or equal to the second preset distance, the driver is reminded to take over, and it is temporarily not possible to enter the target lane. The intersection speed limit cruise C.1 is adopted, and it is determined whether there is a target that inhibits lane change in the alignment lane of the guide lane.

[0144] When it is determined that the aligned lane of the guide lane has a target to suppress lane changes, the vehicle drives in the center;

[0145] When it is determined that there is no target to suppress lane change in the alignment lane of the guide lane, the vehicle changes lanes to the corresponding direction lane and controls the vehicle to enter the alignment lane of the target guide lane.

[0146] When the lateral distance is less than the second preset distance, the vehicle travels in the center.

[0147] Understandably, in step 130, within a range of 20-3m, the central controller controls the vehicle to execute longitudinal and lateral control strategies C, and decomposes them into longitudinal control strategy C and lateral control strategy C according to the distance from the starting point of the guide lane.

[0148] In this embodiment, when the central controller implements longitudinal control strategy C, the central controller uses information collected by the forward-looking camera, panoramic camera, lidar, and millimeter-wave radar to determine whether there are following targets or other traffic participants or obstacles around the vehicle. When there are following targets or other traffic participants or obstacles, the vehicle follows the vehicle. When there are no following targets or other traffic participants or obstacles, the intersection speed limit cruise C is executed. The formula for intersection speed limit cruise C can be expressed as: min[road speed limit, max(road speed limit - 30, 40)] km / h. The specific calculation method of this formula is as follows: first, subtract 30 from the current road speed limit and compare it with 40, select the maximum value, then compare the maximum value with the road speed limit and select the minimum value to obtain the speed of intersection speed limit cruise C.

[0149] In this embodiment, when the central controller implements the lateral control strategy C, the central controller uses information collected by the panoramic camera, lidar and millimeter-wave radar to determine whether the vehicle is in the aligned lane of the target guide lane. The determination is based on whether the lateral distance between the center of the current driving lane and the center of the target guide lane is less than a second preset distance, which is set to 2m.

[0150] Understandably, when the central controller determines that the lateral distance between the center of the current driving lane and the center of the target guiding lane is less than 2 meters, the vehicle will stay centered in its lane. When the central controller determines that the lateral distance between the center of the current driving lane and the center of the target guiding lane is greater than or equal to 2 meters, the central controller will alert the driver to take over. The vehicle will be temporarily unable to enter the target lane, and the central controller will implement intersection speed limit cruise control C.1, which is set at 10 km / h. At this time, the central controller will again determine whether there are any following targets or obstacles in the aligned lane of the guiding lane.

[0151] Understandably, when the central controller determines that there is a following target or obstacle in the aligned lane of the guiding lane, the vehicle will drive in the center of the lane; when there is no following target or obstacle, the vehicle will turn on the turn signal and control the vehicle to change lanes to the aligned lane of the target guiding lane.

[0152] As an optional implementation, the method may further include,

[0153] When executing the longitudinal and lateral control strategies D, the longitudinal control strategy D and the lateral control strategy D are executed respectively;

[0154] When executing the longitudinal control strategy D, it is determined whether there are other traffic participants around the vehicle. If there are other traffic participants around the vehicle, it follows the vehicle. If there are no other traffic participants around the vehicle, it executes the intersection speed limit cruise D. The intersection speed limit cruise D is calculated as follows: first, the road speed limit value is subtracted by 40 and compared with 30. The maximum value is selected. Then, the maximum value is compared with the road speed limit value and the minimum value is selected to obtain the speed of intersection speed limit cruise D.

[0155] When executing the lateral control strategy D, it is determined whether the vehicle is in the aligned lane of the target guiding lane, based on whether the lateral distance between the center of the current driving lane and the center of the target guiding lane is less than a second preset distance.

[0156] When the lateral distance is greater than or equal to the second preset distance, the driver is reminded to take over. The vehicle cannot enter the target lane temporarily. The system determines whether there is a collision risk between the vehicle and the vehicle behind. When it is determined that there is no collision risk between the vehicle and the vehicle behind, the vehicle stops and waits to change lanes. When the vehicle stops and waits for more than the preset time or there is a collision risk between the vehicle and the vehicle behind, the lateral control strategy D of replanning the route and implementing the new route is implemented.

[0157] If the vehicle's waiting time does not exceed the preset time, determine whether there is a target that inhibits lane changing in the target directional lane alignment lane; if it is determined that there is no target that inhibits lane changing in the target directional lane alignment lane, the vehicle changes lanes to the corresponding direction lane and controls the vehicle to enter the target directional lane alignment lane; if it is determined that there is a target that inhibits lane changing in the target directional lane alignment lane, the vehicle continues to wait.

[0158] When the lateral distance is less than the second preset distance, the vehicle will drive in the center.

[0159] Understandably, in step 130, within the range of 3-0m, the central controller controls the vehicle to execute longitudinal and lateral control strategies D, and decomposes them into longitudinal control strategy D and lateral control strategy D according to the distance from the starting point of the guide lane.

[0160] In this embodiment, when the central controller implements longitudinal control strategy D, the central controller uses information collected by the forward-looking camera, panoramic camera, lidar, and millimeter-wave radar to determine whether there are following targets or other traffic participants or obstacles around the vehicle. When there are following targets or other traffic participants or obstacles, the vehicle follows the vehicle. When there are no following targets or other traffic participants or obstacles, the intersection speed limit cruise D is executed. The formula for intersection speed limit cruise D can be expressed as: min[road speed limit, max(road speed limit - 40, 30)] km / h. The specific calculation method of this formula is as follows: first, subtract 40 from the current road speed limit and compare it with 30 to select the maximum value. Then, compare the maximum value with the road speed limit and select the minimum value to obtain the speed of intersection speed limit cruise D.

[0161] In this embodiment, when the central controller implements the lateral control strategy D, the central controller uses information collected by the panoramic camera, the rearview camera, the lidar and the millimeter-wave radar to determine whether the vehicle is in the aligned lane of the target guide lane. The judgment is based on whether the lateral distance between the center of the current driving lane and the center of the target guide lane is less than a second preset distance, which is set to 2m.

[0162] Understandably, when the central controller determines that the lateral distance between the center of the current driving lane and the center of the target guide lane is less than 2m, the vehicle will drive in the center of the current lane; when the central controller determines that the lateral distance between the center of the current driving lane and the center of the target guide lane is greater than or equal to 2m, it will remind the driver to take over, and the vehicle will be temporarily unable to enter the target lane. The central controller will then determine whether there is a risk of collision between the vehicle and the vehicle behind based on the collected information.

[0163] Understandably, the central controller determines whether the minimum collision time (TTC) between the vehicle and the vehicle behind is less than 3 seconds based on information such as the vehicle's speed, the distance between the vehicle and the vehicle behind, the speed of the vehicle behind, and the acceleration of the vehicle behind.

[0164] Understandably, when the central controller determines that the minimum collision time (TTC) between the vehicle and the vehicle behind is greater than 3 seconds, it means that there is no risk of collision between the vehicle and the vehicle behind, and the vehicle stops to wait for a lane change.

[0165] Understandably, when the vehicle is waiting to change lanes by stopping, if the waiting time exceeds a preset time, where the preset time t is generally set to 10 seconds, the central controller will replan the route and implement the new longitudinal and lateral control strategy D.

[0166] Understandably, when the central controller determines that the minimum collision time ttc between the vehicle and the vehicle behind is less than 3s, it indicates that there is a risk of collision between the vehicle and the vehicle behind. The central controller then replans the route and implements the new longitudinal and lateral control strategy D.

[0167] Understandably, when the central controller determines that the vehicle's waiting time is less than 10 seconds, it will collect information on traffic participants in real time again and determine whether there are vehicles or obstacles in the lane aligned with the target guide lane based on the collected information.

[0168] When the central controller determines that there is a vehicle or obstacle in the lane aligned with the target lane, the vehicle continues to stop and wait; when the central controller determines that there is no vehicle or obstacle in the lane aligned with the target lane, the vehicle activates the turn signal and controls the vehicle to change lanes to the lane aligned with the target lane.

[0169] As an optional implementation, the method further includes,

[0170] When executing the longitudinal and lateral control strategies E, the longitudinal control strategy E and the lateral control strategy E are executed respectively;

[0171] When executing the longitudinal control strategy E, it is determined whether there are other traffic participants around the vehicle. If there are other traffic participants around the vehicle, it follows the vehicle. If there are no other traffic participants around the vehicle, it executes the intersection speed limit cruise E and determines whether there is a traffic signal.

[0172] When the presence of the traffic signal is detected, the vehicle is accelerated or decelerated based on the traffic information.

[0173] If it is determined that the traffic signal does not exist, the intersection speed limit cruise E will continue to be executed;

[0174] When the lateral control strategy E is executed, the vehicle travels in the center.

[0175] Understandably, in step 130, within a range less than 0m, the central controller controls the vehicle to execute longitudinal and lateral control strategies E, and decomposes them into longitudinal control strategy E and lateral control strategy E according to the distance from the starting point of the guide lane.

[0176] In this embodiment, when implementing longitudinal control strategy E, the central controller uses information collected by the forward-looking camera, panoramic camera, lidar, and millimeter-wave radar to determine whether there are following targets, other traffic participants, or obstacles around the vehicle. If following targets, other traffic participants, or obstacles are present, the vehicle follows the vehicle in question. If no following targets, other traffic participants, or obstacles are present, intersection speed-limited cruise control E is implemented. When intersection speed-limited cruise control E is implemented, E is less than or equal to 30 km / h. The central controller also determines whether there are traffic signal information at the intersection based on the collected information.

[0177] Understandably, when the central controller determines that the traffic signal does not exist, the vehicle continues to cruise at a speed of 30 km / h or less; when the central controller determines that the traffic signal exists, the central controller controls the vehicle to accelerate or decelerate according to the traffic information.

[0178] In this embodiment, when the central controller implements the lateral control strategy E, the vehicle travels in the center, meaning that the vehicle has arrived at the starting point of the target guide lane. If the vehicles ahead are traveling normally, the vehicle does not need to change lanes and can enter the intersection by traveling in the current lane.

[0179] As an optional implementation, the method may further include,

[0180] When executing the longitudinal and lateral control strategies A, B, and C, control strategy F1 is also executed.

[0181] When executing the longitudinal and lateral control strategies D and E, control strategy F2 is also executed.

[0182] Understandably, in step 130, when the central controller controls the vehicle to execute longitudinal and lateral control strategies A, B, and C, there may be situations where the target vehicle is stopped for a long time or stops due to a malfunction. In this case, the central controller controls the vehicle to execute control strategy F1.

[0183] Understandably, when the central controller controls the vehicle to execute longitudinal and lateral control strategies D and E, there may be situations where the vehicle in front stops for a long time, stops due to malfunction, or stops due to deceleration. In such cases, the central controller controls the vehicle to execute control strategy F2.

[0184] As an optional implementation, the method may further include,

[0185] When executing the control strategy F1, it is determined whether the vehicle following the car has its hazard lights on.

[0186] When it is determined that the vehicle following the vehicle has hazard lights, the vehicle following the vehicle is determined to be an accident vehicle. The system reminds the accident vehicle ahead, and the vehicle drives around the obstacle and then executes the longitudinal and lateral control strategies A, B and C again.

[0187] When it is determined that the vehicle following the vehicle has hazard lights on and the vehicle following the vehicle does not have brake lights on, it is determined that the vehicle ahead may be illegally parked. After the vehicle goes around the obstacle, it will execute longitudinal and lateral control strategies A, B and C again.

[0188] When it is determined that the vehicle following the vehicle has hazard lights on, and the vehicle following the vehicle has its brake lights on, this vehicle will again execute longitudinal and lateral control strategies A, B, and C.

[0189] Understandably, in step 130, when the central controller determines that the vehicle following it has hazard lights based on the information collected by the forward-view camera, the panoramic camera, the lidar, and the millimeter-wave radar, i.e., the vehicle in front stops and displays hazard lights, the central controller determines that the vehicle in front is an accident vehicle, the automatic driving assistance system reminds the vehicle that the vehicle in front is an accident vehicle, and the central controller controls the vehicle to execute the obstacle avoidance strategy. After bypassing the accident vehicle in front, the vehicle again executes the longitudinal and lateral control strategy A and / or longitudinal and lateral control strategy B and / or longitudinal and lateral control strategy C according to the real-time situation.

[0190] Understandably, when the central controller determines from the collected information that the vehicle in front has both hazard lights and brake lights, the vehicle in front may have malfunctioned, need to slow down, or stop illegally. The central controller controls the vehicle to activate the corresponding turn signal and drive around the vehicle in front. After driving around the vehicle in front, the vehicle again executes longitudinal and lateral control strategy A or / and longitudinal and lateral control strategy B or / and longitudinal and lateral control strategy C according to the real-time situation.

[0191] As an optional implementation, the method may further include,

[0192] When executing the control strategy F2, it is determined whether the vehicle following the car has its hazard lights on.

[0193] When it is determined that the vehicle following the vehicle has hazard lights, the vehicle following the vehicle is determined to be an accident vehicle. The system will remind the accident vehicle ahead, suggest that the driver take over, and execute the longitudinal and lateral control strategies D and E for driving.

[0194] When it is determined that the vehicle following the car has hazard lights on, but the vehicle following the car does not have brake lights on, it is determined that the vehicle in front may be illegally parked. It is recommended that the driver take over and execute longitudinal and lateral control strategies D and E.

[0195] When it is determined that the vehicle following the vehicle has hazard lights on and the vehicle following the vehicle has brake lights on, this vehicle will again execute longitudinal and lateral control strategies D and E.

[0196] It is understandable that in step 130, when the central controller determines that the vehicle following the vehicle has hazard lights based on the information collected by the forward-view camera, panoramic camera, lidar and millimeter-wave radar, since the vehicle is close to the starting point of the target guide lane at this time, the vehicle in front may be an accident vehicle. The central controller reminds the driver to take over the vehicle, bypass the vehicle in front, and execute the longitudinal and lateral control strategy D and / or longitudinal and lateral control strategy E to drive the vehicle safely into the intersection.

[0197] Understandably, when the central controller determines, based on the collected information, that the vehicle ahead has hazard lights and brake lights, it determines that the vehicle ahead is illegally parked or involved in an accident, and suggests that the driver take over, bypass the vehicle ahead, and execute longitudinal and lateral control strategies D and / or E to drive around it. When it determines that the vehicle ahead has hazard lights but no brake lights, it determines that the vehicle ahead is illegally parked, and the central controller controls the vehicle to execute longitudinal and lateral control strategies D and / or E to bypass the vehicle ahead, allowing the vehicle to safely enter the intersection.

[0198] Please refer to the attached document. Figure 2-8 The following is a detailed explanation of the longitudinal and lateral control methods for vehicles entering the intersection:

[0199] S1. By using front-view cameras, panoramic cameras, rear-view cameras, lidar, millimeter-wave radar, and high-precision maps deployed on the vehicle, obtain lane information, traffic participant information, distance between the vehicle and the guide lane, and traffic signal information of the current vehicle location.

[0200] S2. When the vehicle is within 200-50m of the starting point of the target guide lane, the central controller controls the vehicle to execute longitudinal and lateral control strategy A, and decomposes it into longitudinal control strategy A and lateral control strategy A according to the real-time distance from the starting point of the guide lane.

[0201] S201. When the central controller implements longitudinal control strategy A, the central controller uses information collected by the forward-looking camera, panoramic camera, lidar and millimeter-wave radar to determine whether there are following targets or other traffic participants or obstacles around the vehicle. When there are following targets or other traffic participants or obstacles, the vehicle follows the vehicle. When there are no following targets or other traffic participants or obstacles, the intersection speed limit cruise A is executed.

[0202] S202. When the central controller implements lateral control strategy A, the central controller uses information collected by the panoramic camera, lidar and millimeter-wave radar to determine whether the vehicle is aligned with the target guide lane or adjacent lane, and makes the judgment based on whether the lateral distance between the center of the current driving lane and the center of the target guide lane is less than 5m.

[0203] S203. When the central controller determines that the lateral distance between the center of the current driving lane and the center of the target guiding lane is less than 5m, the central controller controls the vehicle to stay in the center of the current lane. When the central controller determines that the lateral distance between the center of the current driving lane and the center of the target guiding lane is greater than or equal to 5m, it determines whether there is a target that inhibits lane changing in the aligned lane or adjacent lane of the guiding lane.

[0204] S204. When the central controller determines that there are other vehicles or obstacles in the aligned lane or adjacent lane of the guiding lane, the vehicle continues to drive in the center; when the central controller determines that there are no other vehicles or obstacles in the aligned lane or adjacent lane of the guiding lane, it controls the vehicle to turn on the turn signal and change lanes to the aligned lane or adjacent lane of the guiding lane.

[0205] S205. When the central controller determines that the vehicle following it has hazard lights based on information collected by the forward-view camera, panoramic camera, lidar and millimeter-wave radar, and the vehicle in front has been stopped for more than 10 seconds, the central controller determines that the vehicle in front is an accident vehicle, or the vehicle in front has both hazard lights and brake lights. The automatic driving assistance system reminds the vehicle that the vehicle in front is an accident vehicle, and the central controller controls the vehicle to execute obstacle avoidance strategy F1. After bypassing the accident vehicle in front, the vehicle executes longitudinal and lateral control strategy A again according to the real-time situation.

[0206] S3. When the vehicle travels to a distance of 50-20m from the starting point of the target guide lane, the central controller controls the vehicle to execute longitudinal and lateral control strategies B, and decomposes them into longitudinal control strategy B and lateral control strategy B according to the real-time distance from the starting point of the guide lane.

[0207] S301. When the central controller implements longitudinal control strategy B, the central controller uses information collected by the forward-looking camera, panoramic camera, lidar and millimeter-wave radar to determine whether there are following targets or other traffic participants or obstacles around the vehicle. When there are following targets or other traffic participants or obstacles, the vehicle follows the vehicle. When there are no following targets or other traffic participants or obstacles, the intersection speed limit cruise B is executed.

[0208] S302. When the central controller implements lateral control strategy B, the central controller uses information collected by the panoramic camera, lidar and millimeter-wave radar to determine whether the vehicle is in the adjacent lane of the target guide lane, and makes the judgment based on whether the lateral distance between the center of the current driving lane and the center of the target guide lane is less than 5m.

[0209] S303. When the central controller determines that the lateral distance between the center of the current driving lane and the center of the target guide lane is greater than or equal to 5m, it reminds the driver to take over. The vehicle cannot enter the target lane temporarily. The central controller executes the intersection speed limit cruise B.1. At this time, the central controller replans the route and implements the new route longitudinal and lateral control strategy B.

[0210] S304. When the central controller determines that the lateral distance between the center of the current driving lane and the center of the target guiding lane is less than 5m, it determines whether the vehicle is aligned with the target guiding lane, based on whether the lateral distance between the center of the current driving lane and the center of the target guiding lane is less than 2m.

[0211] S305. When the central controller determines that the lateral distance between the center of the current driving lane and the center of the target guiding lane is greater than or equal to 2m, the vehicle drives in the center. When the central controller determines that the lateral distance between the center of the current driving lane and the center of the target guiding lane is less than 2m, it determines whether there is a following target or obstacle in the aligned lane or adjacent lane of the guiding lane.

[0212] S306. When the central controller determines that there is a following target or obstacle in the aligned lane or adjacent lane of the guiding lane, the vehicle drives in the center of the lane; when there is no following target or obstacle, the vehicle turns on the turn signal and controls the vehicle to change lanes to the aligned lane or adjacent lane of the target guiding lane.

[0213] S307. When the central controller determines that the vehicle following it has hazard lights based on information collected by the forward-view camera, panoramic camera, lidar and millimeter-wave radar, and the vehicle in front has been stopped for more than 10 seconds, the central controller determines that the vehicle in front is an accident vehicle, or the vehicle in front has both hazard lights and brake lights. The automatic driving assistance system reminds the vehicle that the vehicle in front is an accident vehicle, and the central controller controls the vehicle to execute obstacle avoidance strategy F1. After bypassing the accident vehicle in front, the vehicle again executes longitudinal and lateral control strategy B according to the real-time situation.

[0214] S4. When the vehicle travels to a distance of 20-3m from the starting point of the target guide lane, the central controller controls the vehicle to execute longitudinal and lateral control strategies C, and decomposes them into longitudinal control strategy C and lateral control strategy C according to the real-time distance from the starting point of the guide lane.

[0215] S401. When the central controller implements longitudinal control strategy C, the central controller uses information collected by the forward-looking camera, panoramic camera, lidar and millimeter-wave radar to determine whether there are following targets or other traffic participants or obstacles around the vehicle. When there are following targets or other traffic participants or obstacles, the vehicle follows the vehicle. When there are no following targets or other traffic participants or obstacles, the intersection speed limit cruise C is executed.

[0216] S402. When the central controller implements the lateral control strategy C, the central controller uses information collected by the panoramic camera, lidar and millimeter-wave radar to determine whether the vehicle is in the aligned lane of the target guide lane, and makes the judgment based on whether the lateral distance between the center of the current driving lane and the center of the target guide lane is less than 2m.

[0217] S403. When the central controller determines that the lateral distance between the center of the current driving lane and the center of the target guiding lane is less than 2m, the vehicle drives in the center of the current lane. When the central controller determines that the lateral distance between the center of the current driving lane and the center of the target guiding lane is greater than or equal to 2m, the central controller reminds the driver to take over. The vehicle cannot enter the target lane temporarily. The central controller implements intersection speed limit cruise C.1. At this time, the central controller again determines whether there is a following target or obstacle in the aligned lane of the guiding lane.

[0218] S404. When the central controller determines that there is a following target or obstacle in the alignment lane of the guiding lane, the vehicle drives in the center of the lane; when there is no following target or obstacle, the vehicle turns on the turn signal and controls the vehicle to change lanes to the alignment lane of the target guiding lane.

[0219] S405. When the central controller determines that the vehicle following it has hazard lights based on information collected by the forward-view camera, panoramic camera, lidar and millimeter-wave radar, and the vehicle in front has been stopped for more than 10 seconds, the central controller determines that the vehicle in front is an accident vehicle, or the vehicle in front has both hazard lights and brake lights. The automatic driving assistance system reminds the vehicle that the vehicle in front is an accident vehicle, and the central controller controls the vehicle to execute obstacle avoidance strategy F1. After bypassing the accident vehicle in front, the vehicle again executes longitudinal and lateral control strategy C according to the real-time situation.

[0220] S5. When the vehicle travels to a distance of 3-0m from the starting point of the target guide lane, the central controller controls the vehicle to execute longitudinal and lateral control strategies D, and decomposes them into longitudinal control strategy D and lateral control strategy D according to the real-time distance from the starting point of the guide lane.

[0221] S501. When the central controller implements longitudinal control strategy D, the central controller uses information collected by the forward-looking camera, panoramic camera, lidar and millimeter-wave radar to determine whether there are following targets or other traffic participants or obstacles around the vehicle. When there are following targets or other traffic participants or obstacles, the vehicle follows the vehicle. When there are no following targets or other traffic participants or obstacles, the intersection speed limit cruise D is executed.

[0222] S502. When the central controller implements the lateral control strategy D, the central controller uses information collected by the panoramic camera, rearview camera, lidar and millimeter-wave radar to determine whether the vehicle is in the aligned lane of the target guide lane, and makes the judgment based on whether the lateral distance between the center of the current driving lane and the center of the target guide lane is less than 2m.

[0223] S503. When the central controller determines that the lateral distance between the center of the current driving lane and the center of the target guide lane is less than 2m, the vehicle drives in the center of the current lane. When the central controller determines that the lateral distance between the center of the current driving lane and the center of the target guide lane is greater than or equal to 2m, it reminds the driver to take over. The vehicle cannot enter the target lane temporarily. The central controller determines whether there is a risk of collision between the vehicle behind and the vehicle based on the collected information.

[0224] S504. The central controller determines whether the minimum collision time ttc between the vehicle and the vehicle behind is less than 3s based on information such as the vehicle's speed, the distance between the vehicle and the vehicle behind, the speed of the vehicle behind, and the acceleration of the vehicle behind. When the central controller determines that the minimum collision time ttc between the vehicle and the vehicle behind is greater than 3s, it means that there is no risk of collision between the vehicle and the vehicle behind, and the vehicle stops and waits for a lane change. When the central controller determines that the minimum collision time ttc between the vehicle and the vehicle behind is less than 3s, it means that there is a risk of collision between the vehicle and the vehicle behind, and the central controller replans the route and implements the new longitudinal and lateral control strategy D.

[0225] S505. When the vehicle is waiting to change lanes by stopping, if the waiting time exceeds 10 seconds, the central controller will replan the route and implement the new longitudinal and lateral control strategy D.

[0226] S506. When the central controller determines that the vehicle's waiting time is less than 10 seconds, it collects information on traffic participants in real time again and determines whether there are vehicles or obstacles in the lane aligned with the target guide lane based on the collected information.

[0227] S507. When the central controller determines that there is a vehicle or obstacle in the lane aligned with the target lane, the vehicle continues to stop and wait; when the central controller determines that there is no vehicle or obstacle in the lane aligned with the target lane, the vehicle activates the turn signal and controls the vehicle to change lanes to the lane aligned with the target lane.

[0228] S508. When the central controller determines that the vehicle following it has hazard lights based on the information collected by the forward-view camera, panoramic camera, lidar and millimeter-wave radar, and the vehicle in front has been stopped for more than 10 seconds or has hazard lights and brake lights, it determines that the vehicle in front is an accident vehicle or an illegally parked vehicle, and suggests that the driver take over and implement obstacle avoidance strategy F2. After bypassing the vehicle in front, the vehicle will again execute longitudinal and lateral control strategy D according to the real-time situation.

[0229] S6. When the vehicle travels to a distance of less than 0m from the starting point of the target guide lane, the central controller controls the vehicle to execute longitudinal and lateral control strategies E, and decomposes them into longitudinal control strategy E and lateral control strategy E according to the real-time distance from the starting point of the guide lane.

[0230] S601. When implementing longitudinal control strategy E, the central controller uses information collected by the forward-looking camera, panoramic camera, lidar, and millimeter-wave radar to determine whether there are following targets or other traffic participants or obstacles around the vehicle. When there are following targets or other traffic participants or obstacles, the vehicle follows the vehicle. When there are no following targets or other traffic participants or obstacles, the vehicle executes intersection speed limit cruise E. At the same time, the central controller determines whether there is traffic signal information at the intersection based on the collected information.

[0231] S602. When the central controller determines that the traffic signal does not exist, the vehicle continues to cruise at a speed of less than or equal to 30 km / h; when the central controller determines that the traffic signal exists, the central controller controls the vehicle to accelerate or decelerate according to the traffic information.

[0232] S603. When the central controller implements the lateral control strategy E, the vehicle stays in the center, meaning the vehicle has arrived at the starting point of the target lane. If the vehicles ahead are moving normally, the vehicle does not need to change lanes and can enter the intersection while staying in its lane.

[0233] S604. When the central controller determines that the vehicle following it has hazard lights based on information collected by the forward-view camera, panoramic camera, lidar and millimeter-wave radar, and the vehicle in front has been stopped for more than 10 seconds or has hazard lights and brake lights, it determines that the vehicle in front is an accident vehicle or an illegally parked vehicle, and suggests that the driver take over and implement obstacle avoidance strategy F2. After bypassing the vehicle in front, the vehicle will again execute longitudinal and lateral control strategy E according to the real-time situation.

[0234] Based on the above design, by dividing the distance between the vehicle and the starting point of the target guide lane before entering the intersection into different length segments, corresponding longitudinal and lateral control strategies are implemented according to different length segments. When implementing longitudinal and lateral control strategies in different length segments, it is also necessary to judge whether there are accident vehicles ahead based on the actual situation, and then implement corresponding obstacle avoidance control strategies. Through the implementation of longitudinal and lateral control strategies and obstacle avoidance strategies, as well as the optimization of cruise speed, the vehicle can correctly enter the guide lane, effectively improving the driving experience and vehicle operating efficiency while ensuring safety.

[0235] Please refer to the attached document. Figure 9 This application embodiment also provides a longitudinal and lateral control device before an entrance. The control device 200 includes at least one software function module that can be stored in a storage module or embedded in an operating system (OS) in the form of software or firmware. For example, the software function module and computer program included in the control device 200.

[0236] The control device 200 may include an information acquisition module 210 and an execution module 220, and the functions of each module may be as follows:

[0237] The information acquisition module 210 is used to acquire lane information, traffic participant information, distance between the vehicle and the guide lane, and traffic signal information;

[0238] The execution module 220 is used to execute corresponding longitudinal and lateral control strategies based on the distance between the vehicle and the guide lane, lane information, traffic participant information, and traffic signal information.

[0239] The lane information, traffic participant information, distance between the vehicle and the guide lane, and traffic signal information acquired by the information acquisition module 210 are transmitted to the central controller. The central controller integrates and judges the collected information, and then, through the execution module 210, implements longitudinal and lateral control strategies A, B, C, D, and E based on the acquired corresponding information. This enables better planning of the intelligent driving vehicle's cruising speed and lane changes, correct entry into the guide lane, and effectively improves the driving experience and vehicle operating efficiency while ensuring safety.

[0240] Optionally, the execution module is also used for,

[0241] The obstacle avoidance control strategy is executed based on the longitudinal and lateral control strategies.

[0242] In this embodiment, when executing longitudinal and lateral control strategies A, B, C, D, and E, the central controller can also implement obstacle avoidance control strategy F based on the accident situation encountered during the execution of these strategies, so as to enable the vehicle to drive better.

[0243] This application also provides a vehicle, which includes a memory and a processor, wherein:

[0244] Memory is used to store computer programs;

[0245] When the processor executes a computer program stored in memory, it implements a method for controlling the longitudinal and lateral movements of a vehicle before it enters an intersection.

[0246] This application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program that, when run on a computer, causes the computer to perform the control method described in the above embodiments.

[0247] Based on the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by hardware or by using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application can be embodied in the form of a software product. The software product can be stored in a non-volatile storage medium (such as CD-ROM, USB flash drive, mobile hard drive, etc.) and includes several instructions to cause a computer device (such as a personal computer, braking device, or network device, etc.) to execute the methods described in the various implementation scenarios of this application.

[0248] In summary, this application provides a method, device, vehicle, and storage medium for longitudinal and lateral control before entering an intersection. In this solution, the distance between the vehicle and the starting point of the target guide lane before entering the intersection is divided into different length segments. Corresponding longitudinal and lateral control strategies are executed according to these segments. Furthermore, while executing these strategies, the system also assesses whether there are accident vehicles ahead and executes corresponding obstacle avoidance control strategies. Through the execution of these strategies and obstacle avoidance tactics, along with optimized cruising speed, the vehicle can correctly enter the guide lane, effectively improving the driving experience and vehicle operating efficiency while ensuring safety.

[0249] In the embodiments provided in this application, it should be understood that the disclosed apparatus, systems, and methods can also be implemented in other ways. The apparatus, systems, and methods embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which includes one or more executable instructions for implementing a specified logical function. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0250] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A longitudinal and lateral control method before entering an intersection, applied to an autonomous driving assistance system, characterized in that: The method includes acquiring lane information, traffic participant information, and the distance between the vehicle and the guide lane; Based on the distance between the vehicle and the guide lane, lane information, and traffic participant information, a longitudinal and lateral control strategy is formulated. The distance between the vehicle and the guide lane is divided into different segments, and different longitudinal and lateral control strategies are executed according to the different segments. The method further includes: When dividing the distance between the vehicle and the guide lane into different segments, the segments are divided into segment A, segment B, segment C, segment D and segment E; When the segment distance is segment distance A, the longitudinal and lateral control strategy A is executed, and when the longitudinal and lateral control strategy A is executed, the intersection speed limit control A is implemented. When the segment distance is segment distance B, the longitudinal and lateral control strategy B is executed, and when the longitudinal and lateral control strategy B is executed, the intersection speed limit control B is implemented. When the segment distance is segment distance C, the longitudinal and lateral control strategy C is executed, and when the longitudinal and lateral control strategy C is executed, the intersection speed limit control C is implemented. When the segment distance is segment distance D, the longitudinal and lateral control strategy D is executed. When the longitudinal and lateral control strategy D is executed, the intersection speed limit control D is implemented. When the segment distance is segment distance E, the longitudinal and lateral control strategy E is executed, and when the longitudinal and lateral control strategy E is executed, the intersection speed limit control E is implemented. The method further includes: When executing the longitudinal and lateral control strategies A, longitudinal control strategy A and lateral control strategy A are executed respectively; When executing the longitudinal control strategy A, it is determined whether there are other traffic participants around the vehicle. If there are other traffic participants around the vehicle, it follows the vehicle. If there are no other traffic participants around the vehicle, it executes intersection speed limit cruise A. The intersection speed limit cruise A is calculated as follows: first, the road speed limit value is subtracted by 10 and compared with 40. The maximum value is selected. Then, the maximum value is compared with the road speed limit value and the minimum value is selected to obtain the speed of intersection speed limit cruise A. When executing the lateral control strategy A, it is determined whether the vehicle is aligned with the target guide lane or adjacent lane, based on whether the lateral distance between the center of the current driving lane and the center of the target guide lane is less than a first preset distance. When the lateral distance is less than a first preset distance, the vehicle is controlled to maintain center driving; when the lateral distance is greater than the first preset distance, it is determined whether there is a target that inhibits lane changing in the aligned lane or adjacent lane of the guide lane. When it is determined that there is no target to suppress lane change in the aligned lane or adjacent lane of the guide lane, the vehicle changes lanes to the corresponding direction lane and controls the vehicle to enter the aligned lane or adjacent lane of the target guide lane. When it is determined that there is a target to suppress lane changes in the aligned lane or adjacent lane of the guide lane, the vehicle drives in the center.

2. The method according to claim 1, characterized in that: The method also includes, When executing the longitudinal and lateral control strategies B, the longitudinal control strategy B and the lateral control strategy B are executed respectively; When executing the longitudinal control strategy B, it is determined whether there are other traffic participants around the vehicle. If there are other traffic participants around the vehicle, it follows the vehicle. If there are no other traffic participants around the vehicle, it executes the intersection speed limit cruise B. The intersection speed limit cruise B is calculated as follows: first, the road speed limit value is subtracted by 20 and compared with 40. The maximum value is selected. Then, the maximum value is compared with the road speed limit value and the minimum value is selected to obtain the speed of the intersection speed limit cruise B. When executing the lateral control strategy B, it is determined whether the vehicle is in the adjacent lane of the target guiding lane, based on whether the lateral distance between the center of the current driving lane and the center of the target guiding lane is less than a first preset distance. When the lateral distance is greater than or equal to the first preset distance, the driver is reminded to take over. The vehicle cannot enter the target lane temporarily, and the intersection speed limit cruise B.1 is adopted. The intersection speed limit cruise B.1 is calculated by subtracting 10 from the intersection speed limit cruise B, which is the speed of the intersection speed limit cruise B.

1. The route is replanned and the new longitudinal and lateral control strategy B is implemented. When the lateral distance is less than the first preset distance, it is determined whether the vehicle is aligned with the target guide lane, based on whether the lateral distance between the center of the current driving lane and the center of the target guide lane is less than the second preset distance; When the lateral distance is greater than or equal to the second preset distance, the vehicle drives in the center; when the lateral distance is less than the second preset distance, it is determined whether there is a target that inhibits lane changing in the aligned lane or adjacent lane of the guide lane. When it is determined that there is no target to suppress lane change in the aligned lane or adjacent lane of the guide lane, the vehicle changes lanes to the corresponding direction lane and controls the vehicle to enter the aligned lane or adjacent lane of the target guide lane. When it is determined that there is a target to suppress lane changes in the aligned lane or adjacent lane of the guide lane, the vehicle drives in the center.

3. The method according to claim 1, characterized in that: The method also includes, When executing the longitudinal and lateral control strategies C, the longitudinal control strategy C and the lateral control strategy C are executed respectively; When executing the longitudinal control strategy C, it is determined whether there are other traffic participants around the vehicle. If there are other traffic participants around the vehicle, it follows the vehicle. If there are no other traffic participants around the vehicle, it executes the intersection speed limit cruise C. The intersection speed limit cruise C is calculated as follows: first, the road speed limit value is subtracted by 30 and compared with 40. The maximum value is selected. Then, the maximum value is compared with the road speed limit value and the minimum value is selected to obtain the speed of intersection speed limit cruise C. When executing the lateral control strategy C, it is determined whether the vehicle is in the aligned lane of the target guiding lane, based on whether the lateral distance between the center of the current driving lane and the center of the target guiding lane is less than a second preset distance; When the lateral distance is greater than or equal to the second preset distance, the driver is reminded to take over, and it is temporarily not possible to enter the target lane. The intersection speed limit cruise C.1 is adopted, and it is determined whether there is a target that inhibits lane change in the alignment lane of the guide lane. When it is determined that the aligned lane of the guide lane has a target to suppress lane changes, the vehicle drives in the center; When it is determined that there is no target to suppress lane change in the alignment lane of the guide lane, the vehicle changes lanes to the corresponding direction lane and controls the vehicle to enter the alignment lane of the target guide lane. When the lateral distance is less than the second preset distance, the vehicle travels in the center.

4. The method according to claim 1, characterized in that: The method also includes, When executing the longitudinal and lateral control strategies D, the longitudinal control strategy D and the lateral control strategy D are executed respectively; When executing the longitudinal control strategy D, it is determined whether there are other traffic participants around the vehicle. If there are other traffic participants around the vehicle, it follows the vehicle. If there are no other traffic participants around the vehicle, it executes the intersection speed limit cruise D. The intersection speed limit cruise D is calculated as follows: first, the road speed limit value is subtracted by 40 and compared with 30. The maximum value is selected. Then, the maximum value is compared with the road speed limit value and the minimum value is selected to obtain the speed of intersection speed limit cruise D. When executing the lateral control strategy D, it is determined whether the vehicle is in the aligned lane of the target guiding lane, based on whether the lateral distance between the center of the current driving lane and the center of the target guiding lane is less than a second preset distance. When the lateral distance is greater than or equal to the second preset distance, the driver is reminded to take over. The vehicle cannot enter the target lane temporarily. The system determines whether there is a collision risk between the vehicle and the vehicle behind. When it is determined that there is no collision risk between the vehicle and the vehicle behind, the vehicle stops and waits to change lanes. When the vehicle stops and waits for more than the preset time or there is a collision risk between the vehicle and the vehicle behind, the lateral control strategy D of replanning the route and implementing the new route is implemented. If the vehicle's waiting time does not exceed the preset time, determine whether there is a target that inhibits lane changing in the target directional lane alignment lane; if it is determined that there is no target that inhibits lane changing in the target directional lane alignment lane, the vehicle changes lanes to the corresponding direction lane and controls the vehicle to enter the target directional lane alignment lane; if it is determined that there is a target that inhibits lane changing in the target directional lane alignment lane, the vehicle continues to wait. When the lateral distance is less than the second preset distance, the vehicle will drive in the center.

5. The method according to claim 1, characterized in that: The method also includes, When executing the longitudinal and lateral control strategies E, the longitudinal control strategy E and the lateral control strategy E are executed respectively; When executing the longitudinal control strategy E, it is determined whether there are other traffic participants around the vehicle. If there are other traffic participants around the vehicle, it follows the vehicle. If there are no other traffic participants around the vehicle, it executes the intersection speed limit cruise E and determines whether there is a traffic signal. When the presence of the traffic signal is detected, the vehicle is accelerated or decelerated according to the traffic signal. If it is determined that the traffic signal does not exist, the intersection speed limit cruise E will continue to be executed; When the lateral control strategy E is executed, the vehicle travels in the center.

6. The method according to any one of claims 1 to 5, characterized in that: The method also includes, When executing the longitudinal and lateral control strategies A, B, and C, control strategy F1 is also executed. When executing the longitudinal and lateral control strategies D and E, control strategy F2 is also executed.

7. The method according to claim 6, characterized in that: The method also includes, When executing the control strategy F1, it is determined whether the vehicle following the car has its hazard lights on. When it is determined that the vehicle following the vehicle has hazard lights, the vehicle following the vehicle is determined to be an accident vehicle. The system reminds the accident vehicle ahead, and the vehicle drives around the obstacle and then executes the longitudinal and lateral control strategies A, B and C again. When it is determined that the vehicle following the vehicle has hazard lights on and the vehicle following the vehicle does not have brake lights on, it is determined that the vehicle ahead may be illegally parked. After the vehicle goes around the obstacle, it will execute longitudinal and lateral control strategies A, B and C again. When it is determined that the vehicle following the vehicle has hazard lights on, and the vehicle following the vehicle has its brake lights on, this vehicle will again execute longitudinal and lateral control strategies A, B, and C.

8. The method according to claim 6, characterized in that: The method also includes, When executing the control strategy F2, it is determined whether the vehicle following the car has its hazard lights on. When it is determined that the vehicle following the vehicle has hazard lights, the vehicle following the vehicle is determined to be an accident vehicle. The system will remind the accident vehicle ahead, suggest that the driver take over, and execute the longitudinal and lateral control strategies D and E for driving. When it is determined that the vehicle following the car has hazard lights on, but the vehicle following the car does not have brake lights on, it is determined that the vehicle in front may be illegally parked. It is recommended that the driver take over and execute longitudinal and lateral control strategies D and E. When it is determined that the vehicle following the vehicle has hazard lights on and the vehicle following the vehicle has brake lights on, this vehicle will again execute longitudinal and lateral control strategies D and E.

9. A longitudinal and lateral control device before an entrance to an intersection, applied to an automatic driving assistance system, characterized in that: The apparatus employing the method of any one of claims 1 to 8 comprises, The information acquisition module is used to acquire lane information, traffic participant information, distance between the vehicle and the guide lane, and traffic signal information; The execution module is used to execute corresponding longitudinal and lateral control strategies based on the distance between the vehicle and the guide lane, lane information, traffic participant information, and traffic signal information.

10. The apparatus according to claim 9, characterized in that: The execution module is also used for, The obstacle avoidance control strategy is executed according to the described longitudinal and lateral control strategy.

11. A vehicle, characterized in that, The vehicle includes a memory and a processor, wherein: The memory is used to store computer programs; When the processor executes a computer program stored in the memory, it implements the method according to any one of claims 1 to 8.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 8.

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